TY - GEN
T1 - 3D X-Y-T space path planning for autonomous mobile robots considering dynamic constraints
AU - Nishitani, Ippei
AU - Matsumura, Tetsuya
AU - Ozawa, Mayumi
AU - Yorozu, Ayanori
AU - Takahashi, Masaki
N1 - Copyright:
Copyright 2014 Elsevier B.V., All rights reserved.
PY - 2014
Y1 - 2014
N2 - An autonomous mobile robot in a human living space should be able to not only realize collision-free motion but also give way to humans depending on the situation. Although various reactive obstacle avoidance methods have been proposed, it is difficult to achieve such motion. On the other hand, 3D X-Y-T space path planning, which takes into account the motion of both the robot and the human in a look-ahead time horizon, is effective. This paper proposes a real-time obstacle avoidance method for an autonomous mobile robot that considers the robot's dynamic constraints, the personal space, and human directional area based on grid-based 3D X-Y-T space path planning. The proposed method generates collision-free motion in which the robot can yield to humans. To verify the effectiveness of the proposed method, various experiments in which the human's position and velocity were estimated using laser range finders were carried out.
AB - An autonomous mobile robot in a human living space should be able to not only realize collision-free motion but also give way to humans depending on the situation. Although various reactive obstacle avoidance methods have been proposed, it is difficult to achieve such motion. On the other hand, 3D X-Y-T space path planning, which takes into account the motion of both the robot and the human in a look-ahead time horizon, is effective. This paper proposes a real-time obstacle avoidance method for an autonomous mobile robot that considers the robot's dynamic constraints, the personal space, and human directional area based on grid-based 3D X-Y-T space path planning. The proposed method generates collision-free motion in which the robot can yield to humans. To verify the effectiveness of the proposed method, various experiments in which the human's position and velocity were estimated using laser range finders were carried out.
KW - Dynamic constraints
KW - Mobile robot
KW - Obstacle avoidance
KW - Path planning
KW - Personal space
UR - http://www.scopus.com/inward/record.url?scp=84893906944&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893906944&partnerID=8YFLogxK
U2 - 10.4028/www.scientific.net/AMM.490-491.1163
DO - 10.4028/www.scientific.net/AMM.490-491.1163
M3 - Conference contribution
AN - SCOPUS:84893906944
SN - 9783038350019
T3 - Applied Mechanics and Materials
SP - 1163
EP - 1167
BT - Mechanical Design and Power Engineering
T2 - 2013 2nd International Conference on Mechanical Design and Power Engineering, ICMDPE 2013
Y2 - 29 November 2013 through 30 November 2013
ER -